
#include <iostream>
#include <Eigen/Dense>
#include <math.h>

#include "KinematicModelTypes.h"

dirKinResult dirKin(float teta1, float teta2, float teta3, float teta4);
invKinResult invKin(float x, float y, float z);
invKinResult invKin(float x, float y, float z, bool recursive);

int main(int argc, char* argv[]){
	
	if(argc == 4)
		invKin(atof(argv[1]),atof(argv[2]),atof(argv[3]), true);
	if(argc == 5)
		dirKin(atof(argv[1]),atof(argv[2]),atof(argv[3]),atof(argv[4]));					

}